fix: pointcloud container naming

NEWSLabNTU · Dec 4, 2024 · 7a74373 · 7a74373
1 parent 909e01a
commit 7a74373
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 6 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -4,7 +4,13 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
+  <arg name="pointcloud_container_node_name" default="pointcloud_container"/>
+  <arg name="pointcloud_container_name" default="/$(var pointcloud_container_node_name)"/>
+
+  <arg name="lidar_container_node_name" default="lidar_container"/>
+  <arg name="lidar_container_name" default="/$(var lidar_container_node_name)"/>
+
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
@@ -58,7 +64,13 @@
   <!-- Pointcloud container -->
   <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
     <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="container_name" value="$(var pointcloud_container_node_name)"/>
+  </include>
+
+  <!-- LiDAR container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var lidar_container_node_name)"/>
   </include>
 
   <!-- Vehicle -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -20,8 +20,6 @@
   <arg name="perception" default="true" description="launch perception"/>
   <arg name="planning" default="true" description="launch planning"/>
   <arg name="control" default="true" description="launch control"/>
-  <!-- Pointcloud container -->
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Map -->
@@ -53,8 +51,6 @@
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
       <arg name="use_sim_time" value="true"/>
-      <!-- Pointcloud container -->
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <!-- Vehicle -->
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>